Search

The CULTAN (Controlled Uptake Long Term Ammonium Nutrition) system is based on one-time injection of the whole dose of nitrogen required for the vegetation period. The effect of this method on yield and grain quality of winter wheat was observed in a 2-year small-plot trial at 4 different experimental sites in the Czech Republic. The experiment comprised two treatments with the total amount of nitrogen applied during fertilization of 150 kg N/ha. At the CULTAN treatment the whole dose was applied all at once using the GFI 3A injection machine (Maschinen und Antriebstechnik GmbH Güstrow), whereas at the control treatment, the dose was divided into three applications. The average grain yield of winter wheat in 2007 was 9.56 t/ha (control) and 8.78 t/ha (CULTAN); in 2008 it was 9.91 t/ha (control) and 9.63 t/ha (CULTAN). The differences in 2008 were not statistically significant. The contents of nitrogen and gluten were significantly lower at CULTAN treatment in both years. The values of falling number, Zeleny test and bulk density were generally similar at both treatments.

Lidar odometry and mapping has emerged as fundamental technology in various fields, including accurate positioning and mapping, autonomous vehicles, robotics, and environmental monitoring. The ability to create accurate maps and calculate trajectories is essential for localization and navigation in complex environments, particularly in scenarios where GNSS signal are unavailable. In this context, we propose a novel method for simultaneous localization and mapping (SLAM) specifically designed for GNSS-denied environments and without the need for high-accuracy ranging or inertial measurement units (IMUs). Our approach aims to address the challenges posed by GNSS-denied environments and the cost constraints associated with using multiple sensors. By using only lidar sensors, specifically the Velodyne VLP 16 sensor, we offer a cost-effective solution. Our method utilizes a modified version of the Iterative Closest Point (ICP) algorithm to handle consecutive lidar scans seamlessly. In addition to our method, we conducted thorough accuracy assessments on the created map. The reason behind extensive accuracy evaluation is to ensure the quality of registration. By comparing alignment between the features of different frames within the map and determining the error between the registered features and the original, we gain a more comprehensive understanding of registration quality.

In recent years, 3D LiDAR (Light Detection and Ranging) has become a crucial sensor in various applications such as autonomous vehicles, robotics, object detection, precision forestry, and agriculture. However, specific LiDAR sensors, such as Velodyne VLP16, exhibit some drawbacks, such as a limited field of view and sparse data density, making them inadequate for certain specific applications. Hence, this research proposes a method for calibrating two VLP16 LiDAR sensors to improve coverage and reduce blind spots. The pipeline for performing the calibration begins with mounting LiDARs correctly in a rod at a specific orientation and distance, followed by the selection of multiple sites for data collection, then performing a registration algorithm for estimating calibration parameters, and then an accuracy assessment of the calibrated point clouds. The registration algorithm used here is a modified version of ICP (Iterative Closest Point), which overcomes the need for initialization and eliminates manual intervention in installing targets or retro-reflectors. Finally, we evaluated the accuracy of the fused point cloud collected in an open environment using two calibrated Velodyne VLP16 sensors. For accuracy assessment, we used the PCA eigenvalue and RMSE value to observe how tightly point clouds are fused. As a calibration result, we got the orientation and translation parameters, which are used to achieve the common coordinate system, and accomplished calibration accuracy up to single-digit precision from all the experimental sites. Now the system of two calibrated VLP16 sensors will provide higher coverage and increased data density and might be useful for forest applications.

Abstract Any means to control gravity like electromagnetism is currently out of reach by many orders of magnitude even under extreme laboratory conditions. Some often poorly executed experiments or pseudoscience theories appear from time to time claiming for example anomalous forces from capacitors that suggest a connection between the two fields. We developed novel and high resolution horizontal-, vertical- and rotation-balances that allow to test electric devices completely shielded and remotely controlled under high vacuum conditions to perform the first in-depth search for such a coupling using steady fields. Our testing included a variety of capacitors of different shapes and compositions as well as for the first-time solenoids and tunneling currents from Zener diodes and varistors. A comprehensive coupling-scheme table was used to test almost all combinations including capacitors and solenoids with permittivity and permeability gradients as well as capacitors and varistors within crossed magnetic fields. We also tested a crossed-coil producing helical magnetic field lines as well as interactions between a pair of shielded toroidal coils to look for proposed extensions to Maxwell’s equations. No anomalous forces or torques down to the nano-Newton or nano-Newton-Meter range were found providing new limits many orders of magnitude below previous assessments ruling out claims or theories and providing a basis for future research on the topic.

The urgent need to mitigate climate change has evoked a broad interest in better understanding and estimating nitrous oxide (N2O) emissions from different ecosystems. Part of the uncertainty in N2O emission estimates still comes from an inadequate understanding of the temporal and small-scale spatial variability of N2O fluxes. Using 4.5 years of N2O flux data collected in a drained peatland forest with six automated chambers, we explored temporal and small-scale spatial variability of N2O fluxes. A random forest with conditional inference trees was used to find immediate and delayed relationships between N2O flux and environmental conditions across seasons and years. The spatiotemporal variation of the N2O flux was large, with daily mean N2O flux varying between −10 and +1760 µgN2Om-2h-1 and annual N2O budgets of different chambers between +60 and +2110 mgN2Om-2yr-1. Spatial differences in fluxes persisted through years of different environmental conditions. Soil moisture, water table level, and air temperature were the most important variables explaining the temporal variation of N2O fluxes. N2O fluxes responded to precipitation events with peak fluxes measured on average 4 d after peaks in soil moisture and water table level. The length of the time lags varied in space and between seasons indicating possible interactions with temperature and other soil conditions. The high temporal variation in N2O flux was related to (a) temporal variation in environmental conditions, with the highest N2O fluxes measured after summer precipitation events and winter soil freezing, and (b) to annually varying seasonal weather conditions, with the highest N2O emissions measured during wet summers and winters with discontinuous snow cover. Climate change may thus increase winter N2O emissions, which may be offset by lower summer N2O emissions in dry years. The high sensitivity of N2O fluxes to seasonal weather conditions suggests increasing variability in annual peatland forest N2O budgets as the frequency of extreme weather events, such as droughts, is predicted to increase.

Greenhouse gas (GHG) emissions from rivers are globally relevant, but quantification of these emissions comes with considerable uncertainty. Quantification of ecosystem-scale emissions is challenged by both spatial and short-term temporal variability. We measured spatio-temporal variability of CO2 and CH4 fluxes from a 1 km long reach of the lowland river Elbe in Germany over 3 d to establish which factor is more relevant to be taken into consideration: small-scale spatial variability or short-term temporal variability of CO2 and CH4 fluxes. GHG emissions from the river reach studied were dominated by CO2, and 90 % of total emissions were from the water surface, while 10 % of emissions were from dry fallen sediment at the side of the river. Aquatic CO2 fluxes were similar at different habitats, while aquatic CH4 fluxes were higher at the side of the river. Artificial structures to improve navigability (groynes) created still water areas with elevated CH4 fluxes and lower CO2 fluxes. CO2 fluxes exhibited a clear diurnal pattern, but the exact shape and timing of this pattern differed between habitats. By contrast, CH4 fluxes did not change diurnally. Our data confirm our hypothesis that spatial variability is especially important for CH4, while diurnal variability is more relevant for CO2 emissions from our study reach of the Elbe in summer. Continuous measurements or at least sampling at different times of the day is most likely necessary for reliable quantification of river GHG emissions.

IntroductionDigital health technologies (DHTs) have the potential to alleviate challenges experienced in clinical trials through more objective, naturalistic, and frequent assessments of functioning. However, implementation of DHTs come with their own challenges, including acceptability and ease of use for study participants. In addition to acceptability, it is also important to understand device proficiency in the general population and within patient populations who may be asked to use DHTs for extended periods of time. We thus aimed to provide an overview of participant feedback on acceptability of DHTs, including body-worn sensors used in the clinic and a mobile application used at-home, used throughout the duration of the Wearable Assessments in the Clinic and at Home in Parkinson's Disease (WATCH-PD) study, an observational, longitudinal study looking at disease progression in early Parkinson's Disease (PD).Methods82 participants with PD and 50 control participants were enrolled at 17 sites throughout the United States and followed for 12 months. We assessed participants' general device proficiency at baseline, using the Mobile Device Proficiency Questionnaire (MDPQ). The mean MDPQ score at Baseline did not significantly differ between PD patients and healthy controls (20.6 [2.91] vs 21.5 [2.94], p = .10).ResultsQuestionnaire results demonstrated that participants had generally positive views on the comfort and use of the digital technologies throughout the duration of the study, regardless of group.DiscussionThis is the first study to evaluate patient feedback and impressions of using technology in a longitudinal observational study in early Parkinson's Disease. Results demonstrate device proficiency and acceptability of various DHTs in people with Parkinson's does not differ from that of neurologically healthy older adults, and, overall, participants had a favorable view of the DHTs deployed in the WATCH-PD study.

Currently, the use of fiber-optic Bragg gratings in biomedical applications, especially in the field of magnetic resonance imaging (MRI), is becoming popular. In these applications, the fiber Bragg grating (FBG) encapsulation plays a crucial role in terms of the accuracy and reproducibility of the measurements. This paper describes in detail the fabrication method of a prototype FBG sensor, which is realized by encapsulating a Bragg grating between two layers of the MR-compatible material Acrylonitrile Butadiene Styrene (ABS) by 3D printing. The sensor thus created, implemented, for example, on the chest of a human body, enables monitoring of the vital functions of the human body. The paper describes the complete procedure for the creation of the prototype sensor, including strain and temperature dependence, as well as results of long-term experimental measurements against the conventional electrocardiography (ECG) standard. Results based on the objective Bland-Altman (B-A) method confirm that the implemented sensor can be used for reliable monitoring of cardiac activity (>95% based on B-A). Taking into account the single fiber optic cable, its simple implementation, its small size and weight < 5g, the presented sensor represents an interesting alternative to conventional ECG.

The research relevance is stipulated by the negative dynamics of the increase in the number of iatrogenic offences in Ukraine and the need to update the criminalistic support tools to effectively counteract these types of acts. Given this, the study aims to explore the prospects for developing an information system for recording cases of defects in the provision of medical care in Ukraine to promptly detect and investigate criminal offences in the field of medical practice. Various research methods were used, including analysis, synthesis, comparison, structural and functional, statistical, formal, and legal, and deduction. The study identifies the factors that necessitate the development of an information system for registering and studying cases of inadequate medical care to patients. In addition, the author examines the experience of Denmark, Germany, Great Britain, France, and other European countries in ensuring the operation of mechanisms for recording and reporting on adverse effects caused by defects in the provision of medical care. The advantages of information systems in the context of combating iatrogenic criminal offences are also revealed and proposals for the implementation of such mechanisms in Ukraine are developed. The study pays special attention to establishing the essence of iatrogenic criminal offences and identifying their specific features which create difficulties for the investigation of criminal offences in the field of medical activity since they are latent. The results obtained in the course of the study should be used to improve the competence of criminal justice officials whose activities are aimed at conducting pre-trial investigations of iatrogenic criminal offences through the use of innovative criminalistic tools

Elucidating the mechanisms underlying microbial methane formation in subsurface environments is essential to understanding the global carbon cycle. This study examined how microbial methane formation (i.e., methanogenesis) occurs in natural-gas-bearing sedimentary aquifers throughout the sediment burial history. Water samples collected from six aquifers of different depths exhibited ascending vertical gradients in salinity from brine to fresh water and in temperature from mesophilic to psychrophilic conditions. Analyses of gas and water isotopic ratios and microbial communities indicated the predominance of methanogenesis via CO2 reduction. However, the hydrogen isotopic ratio of water changed along the depth and salinity gradient, whereas the ratio of methane changed little, suggesting that in situ methanogenesis in shallow sediments does not significantly contribute to methane in the aquifers. The population of methane-producing microorganisms (methanogens) was highest in the deepest saline aquifers, where the water temperature, salinity, and total organic carbon content of the adjacent mud sediments were the highest. Cultivation of the dominant hydrogenotrophic methanogens in the aquifers showed that the methanogenesis rate was maximized at the temperature corresponding to that of the deepest aquifer. These results suggest that high-temperature conditions in deeply buried sediments are associated with enhanced in situ methanogenesis and that methane that forms in the deepest aquifer migrates upward into the shallower aquifers by diffusion.

Global financial fluctuations that arise in the financial centres – the US and the EU through international channels of monetary transmission affect the financial markets of peripheral countries, including Ukraine, where the assessment and consideration of such an impact is an important element of monetary policy. Therefore, the purpose of the article was to assess the impact of cyclical fluctuations of the global financial situation on the financial sector of Ukraine’s economy. As a result of correlation analysis, a direct relationship between leverage indicators in Ukraine and the Chicago Board Options Exchange Volatility Index and Euro Stoxx Volatility Index has been revealed. At the same time, the direct relationship between these indices and the growth of domestic credit in Ukraine contradicts the concept of the global financial cycle and may indicate the presence of more important factors of domestic credit. Correlation analysis of the volatility index of the Chicago Board Options Exchange and capital flows in Ukraine showed that in the years of increased global uncertainty and volatility, the volume of capital flows decreased, especially for portfolio debt instruments. Analysis of the cyclical components of the global and domestic credit cycle in Ukraine obtained with the Godric-Prescott filter indicates a higher level of volatility in domestic lending. The obtained value of the concordance coefficient did not make it possible to draw an unequivocal conclusion about the counter- or procyclical nature of domestic credit fluctuations relative to the global volume of loans in the non-banking sector. It has been found that the global financial cycle was not a significant factor in domestic credit in Ukraine in the studied period. The practical significance of the results lies in the fact that the National Bank of Ukraine will be able to implement a monetary policy independent of the global financial fluctuations and limit the outflow of capital during the period of growing uncertainty in the international financial markets

Abstract In this work we present a novel approach utilizing nuclear magnetic resonance (NMR) relaxometry to assess the structural stability of microcapsules employed as self-healing agents in advanced aerospace composites both in ambient and harsh environmental conditions. We successfully correlate the amount of the encapsulated self-healing agent with the signal intensity and confirm non-destructively the quantity of the encapsulated self-healing agent mass for the first time in the literature using 1H NMR spin–spin relaxation techniques on urea–formaldehyde (UF) microcapsules of different diameters containing an epoxy healing agent. The amount of self-healing agent is shown to increase by reducing the capsule diameter; however, the reduced shell mass renders the capsules more fragile and prone to failure. Most notably, via NMR experiments conducted during thermal cycling simulating flight conditions, we demonstrate that the microcapsule integrity under thermal fatigue varies according to their size. Especially we experimentally verify that the microcapsules with the most sensitive shells are the 147 nm and 133 nm diameter microcapsules, which are the most commonly used in self-healing systems. Finally, we were able to retrieve the same results using a portable NMR spectrometer developed in-house for in situ microcapsule testing, thus demonstrating the potential of NMR relaxometry as a powerful non-destructive evaluation tool for the microcapsule production line.

Introduction: The surgical treatment of degenerative spondylolisthesis with accompanying spinal stenosis focuses mainly on decompression of the spinal canal with or without additional fusion by means of a dorsal spondylodesis. Currently, one main decision criterion for additional fusion is the presence of instability in flexion and extension X-rays. In cases of mild and stable spondylolisthesis, the optimal treatment remains a subject of ongoing debate. There exist different opinions on whether performing a fusion directly together with decompression has a potential benefit for patients or constitutes overtreatment. As X-ray images do not provide any information about internal biomechanical forces, computer simulation of individual patients might be a tool to gain a set of new decision criteria for those cases.Methods: To evaluate the biomechanical effects resulting from different decompression techniques, we developed a lumbar spine model using forward dynamic-based multibody simulation (FD_MBS). Preoperative CT data of 15 patients with degenerative spondylolisthesis at the level L4/L5 who underwent spinal decompression were identified retrospectively. Based on the segmented vertebrae, 15 individualized models were built. To establish a reference for comparison, we simulated a standardized flexion movement (intact) for each model. Subsequently, we performed virtual unilateral and bilateral interlaminar fenestration (uILF, bILF) and laminectomy (LAM) by removing the respective ligaments in each model. Afterward, the standardized flexion movement was simulated again for each case and decompression method, allowing us to compare the outcomes with the reference. This comprehensive approach enables us to assess the biomechanical implications of different surgical approaches and gain valuable insights into their effects on lumbar spine functionality.Results: Our findings reveal significant changes in the biomechanics of vertebrae and intervertebral discs (IVDs) as a result of different decompression techniques. As the invasiveness of decompression increases, the moment transmitted on the vertebrae significantly rises, following the sequence intact ➝ uILF ➝ bILF ➝ LAM. Conversely, we observed a reduction in anterior–posterior shear forces within the IVDs at the levels L3/L4 and L4/L5 following LAM.Conclusion: Our findings showed that it was feasible to forecast lumbar spine kinematics after three distinct decompression methods, which might be helpful in future clinical applications.

The geological potential of sparse subsurface data is not being fully exploited since the available workflows are not specifically designed to detect and interpret 3D geometric anomalies hidden in the data. We develop a new unsupervised machine learning framework to cluster and analyze the spatial distribution of orientations sampled throughout a geological interface. Our method employs Delaunay triangulation and clustering with the squared Euclidean distance to cluster local unit orientations, which results in minimization of the within-cluster cosine distance. We performed the clustering on two representations of the triangles: normal and dip vectors. The classes resulting from clustering were attached to a geometric center of a triangle (irregular version). We also developed a regular version of spatial clustering which allows the question to be answered as to whether points from a grid structure can be affected by anomalies. To illustrate the usefulness of the combination between cosine distance as a dissimilarity metric and two cartographic versions, we analyzed subsurface data documenting two horizons: (1) the bottom Jurassic surface from the Central European Basin System (CEBS) and (2) an interface between Middle Jurassic units within the Kraków–Silesian Homocline (KSH), which is a part of the CEBS. The empirical results suggest that clustering normal vectors may result in near-collinear cluster centers and boundaries between clusters of similar trend, thus pointing to axis of a potential megacylinder. Clustering dip vectors, on the other hand, resulted in near-co-circular cluster centers, thus pointing to a potential megacone. We also show that the linear arrangements of the anomalies and their topological relationships and internal structure can provide insights regarding the internal structure of the singularity, e.g., whether it may be due to drilling a nonvertical fault plane or due to a wider deformation zone composed of many smaller faults.

River sediments falling dry at low water levels are sources of CO2 to the atmosphere. While the general relevance of CO2 emissions from dry sediments has been acknowledged and some regulatory mechanisms have been identified, knowledge on mechanisms and temporal dynamics is still sparse. Using a combination of high-frequency measurements and two field campaigns we thus aimed to identify processes responsible for CO2 emissions and to assess temporal dynamics of CO2 emissions from dry sediments at a large German river. CO2 emissions were largely driven by microbial respiration in the sediment. Observed CO2 fluxes could be explained by patterns and responses of sediment respiration rates measured in laboratory incubations. We exclude groundwater as a significant source of CO2 because the CO2 concentration in the groundwater was too low to explain CO2 fluxes. Furthermore, CO2 fluxes were not related to radon fluxes, which we used to trace groundwater-derived degassing of CO2. CO2 emissions were strongly regulated by temperature resulting in large diurnal fluctuations of CO2 emissions with emissions peaking during the day. The diurnal temperature–CO2 flux relation exhibited a hysteresis which highlights the effect of transport processes in the sediment and makes it difficult to identify temperature dependence from simple linear regressions. The temperature response of CO2 flux and sediment respiration rates in laboratory incubations was identical. Also deeper sediment layers apparently contributed to CO2 emissions because the CO2 flux was correlated with the thickness of the unsaturated zone, resulting in CO2 fluxes increasing with distance to the local groundwater level and with distance to the river. Rain events lowered CO2 emissions from dry river sediments probably by blocking CO2 transport from deeper sediment layers to the atmosphere. Terrestrial vegetation growing on exposed sediments greatly increased respiratory sediment CO2 emissions. We conclude that the regulation of CO2 emissions from dry river sediments is complex. Diurnal measurements are mandatory and even CO2 uptake in the dark by phototrophic micro-organisms has to be considered when assessing the impact of dry sediments on CO2 emissions from rivers.

Abstract The activity of inhibitory interneurons has a profound role in shaping cortical plasticity. Somatostatin-expressing interneurons (SOM-INs) are involved in several aspects of experience-dependent cortical rewiring. We addressed the question of the barrel cortex SOM-IN engagement in plasticity formation induced by sensory deprivation in adult mice (2–3 months old). We used a spared vibrissa paradigm, resulting in a massive sensory map reorganization. Using chemogenetic manipulation, the activity of barrel cortex SOM-INs was blocked or activated by continuous clozapine N-oxide (CNO) administration during one-week-long deprivation. To visualize the deprivation-induced plasticity, [14C]-2-deoxyglucose mapping of cortical functional representation of the spared whisker was performed at the end of the deprivation. The plasticity was manifested as an extension of cortical activation in response to spared vibrissae stimulation. We found that SOM-IN inhibition in the cortical column of the spared whisker did not influence the areal extent of the cortex activated by the spared whisker. However, blocking the activity of SOM-INs in the deprived column, adjacent to the spared one, decreased the plasticity of the spared whisker representation. SOM-IN activation did not affect plasticity. These data show that SOM-IN activity is part of cortical circuitry that affects interbarrel interactions underlying deprivation-induced plasticity in adult mice.

The running-in process is accompanied by a change in microgeometry, as a result of which some constant roughness is established, which is characteristic of given friction conditions, and the physical and mechanical properties of the surface layers also change, since plastic deformations usually predominate in the contact. The thickness of the surface layers that have undergone changes during external friction depends on the stress state in the zones of their actual contact and heating during friction. The stress state in the zone of actual contact of the bodies is characterized by indentation or crushing of surface microroughnesses, as well as by elastic or plastic states of the latter. Surface heating during friction depends on the thermophysical properties of the contacting bodies and the friction mode. An increase in the temperature of the surface layers causes not only their softening, but also greatly increases the rate of physical and chemical processes in them. This leads to saturation of the surface layers with environmental gas molecules, oxidizing slicks, and also to an increase in the concentration of defects in these layers

Strontium titanate [SrTiO3 (STO)], a perovskite oxide with an extremely high gate-tunable dielectric constant (ε) due to quantum paraelectric phases, is attracting considerable attention for yielding various physical phenomena when two-dimensional (2D) layers are integrated. Superconductivity is such a typical phenomenon. However, the influence of the STO substrates on enhancing transition temperatures (Tc) for (atomically) thin 2D flakes attached to them has been rarely investigated. Here, we report gate-tunable and gradual four-terminal resistance drops with critical onset T (TCR) and scanning tunneling spectroscopy (STS) spectra in devices comprising thin TaS2 flakes attached on monolayer hexagonal boron nitride (hBN) spacer/STO substrates. Observation of STS spectra confirms the presence of local superconducting gaps Δ (∼1.5 meV) with transition T (TΔC) three-times higher than previous reports of Tc under absent pressure and strong position dependence of Δ. Depending on Δ on back gate voltages (Vbg) and magnetic fields, there is a strong correlation between TCR and the onset Tc of superconductivity, implying an enhancement of approximately five times compared with the previous highest-onset Tc values without pressure as the applied Vbg increases. The high onset Tc and Δ are discussed based on screening of the long-range Coulomb interaction (CI) due to the high-ε of SrTiO3, while the short-ranged CI remains strong in the 2D limit, causing the superconductivity. Using a monolayer hBN/SrTiO3 substrate with Vbg opens doors to Tc enhancement in thin superconducting layers integrated on it and wide application due to the solid-state high-ε substrates.

ObjectiveThe performance of automated control of inspired oxygen (A-FiO2) has been confirmed in dozens of studies but reports of routine use are limited. Broadly adopted in Poland, our aim is to share that experience.MethodsWe used a prospectively planned observational study of the performance, general use patterns, unit practices, and problems with A-FiO2, based on a web registry of case reports, complemented by surveys of subjective impressions.ResultsIn 2019, a total of 92 A-FiO2 systems were in routine use in 38 centers. Of the 38 centers, 20 had agreed in 2013 to participate in the project. In these centers, A-FiO2 was applied in infants of all weights, but some centers restricted its use to weaning from oxygen and unstable infants. A cohort had reported their experience with each use (5/20 centers, 593 cases). A quarter of those infants were managed with a lower target range and three-quarters with alarms looser than European guidelines for manual SpO2 control. The perceived primary advantages of A-FiO2 were as follows: keeping the readings in the target range, reducing exposure to SpO2 extremes, reducing risk from nurse distraction, reducing workload, and reducing alarm fatigue. Practices did evolve with experience, including implementing changes in the alarm strategy, indications for use, and target range. The potential for over-reliance on automation was cited as a risk. There were a few reports of limited effectiveness (moderate 12/593 and poor 2/593).ConclusionsAutomated oxygen control is broadly perceived by users as an improvement in controlling SpO2 with infrequent problems.